From 0b156cdd0f285ee96fd63ef80201f0b02cfde27a Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Tue, 25 Apr 2017 10:53:29 -0700
Subject: [PATCH] Handle autopilot home position updates

---
 src/MissionManager/MissionManager.cc | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/src/MissionManager/MissionManager.cc b/src/MissionManager/MissionManager.cc
index db35e2fca..8a88bada0 100644
--- a/src/MissionManager/MissionManager.cc
+++ b/src/MissionManager/MissionManager.cc
@@ -409,11 +409,6 @@ void MissionManager::_requestNextMissionItem(void)
 
 void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool missionItemInt)
 {
-    
-    if (!_checkForExpectedAck(AckMissionItem)) {
-        return;
-    }
-
     MAV_CMD     command;
     MAV_FRAME   frame;
     double      param1;
@@ -468,7 +463,24 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool m
         frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
     }
     
-    qCDebug(MissionManagerLog) << "_handleMissionItem seq:command:current" << seq << command << isCurrentItem;
+
+    bool ardupilotHomePositionUpdate = false;
+    if (!_checkForExpectedAck(AckMissionItem)) {
+        if (_vehicle->apmFirmware() && seq ==  0) {
+            ardupilotHomePositionUpdate = true;
+        } else {
+            qCDebug(MissionManagerLog) << "_handleMissionItem dropping spurious item seq:command:current" << seq << command << isCurrentItem;
+            return;
+        }
+    }
+
+    qCDebug(MissionManagerLog) << "_handleMissionItem seq:command:current:ardupilotHomePositionUpdate" << seq << command << isCurrentItem << ardupilotHomePositionUpdate;
+
+    if (ardupilotHomePositionUpdate) {
+        QGeoCoordinate newHomePosition(param5, param6, param7);
+        _vehicle->_setHomePosition(newHomePosition);
+        return;
+    }
     
     if (_itemIndicesToRead.contains(seq)) {
         _itemIndicesToRead.removeOne(seq);
-- 
2.22.0